int goToHeading(double desiredHeading);
int goToWaypoint(double latitude, double longitude, double metersPrecision);
double lawCosines(double lat1, double lon1, double lat2, double lon2);
double calcHeading(double lat1, double lon1, double lat2, double lon2);
void signal_handler(int signum);
void commandMix(unsigned int rudder, unsigned int throttle);
